Trajectory Planning and Tracking Control of a Differential-Drive Mobile Robot in a Picture Drawing Application
This paper proposes a method for trajectory planning and control of a mobile robot for application in picture drawing from images. The robot is an accurate differential drive mobile robot platform controlled by a field-programmable-gate-array (FPGA) controller. By not locating the tip of the pen at...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2017-08-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/6/3/17 |
| Summary: | This paper proposes a method for trajectory planning and control of a mobile robot for application in picture drawing from images. The robot is an accurate differential drive mobile robot platform controlled by a field-programmable-gate-array (FPGA) controller. By not locating the tip of the pen at the middle between two wheels, we are able to construct an omnidirectional mobile platform, thus implementing a simple and effective trajectory control method. The reference trajectories are generated based on line simplification and B-spline approximation of digitized input curves obtained from Canny’s edge-detection algorithm on a gray image. Experimental results for image picture drawing show the advantage of this proposed method. |
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| ISSN: | 2218-6581 |